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   VI-DriveSim 19.2 on Linux &gt; VI-DriveSim 19.2 Configuration &gt; Steering wheel torque using Phase motor assembly&nbsp;&gt;</p>
      <h1 class="p_Heading1" style="page-break-after: avoid;"><span class="f_Heading1">Phase Motor control mode</span></h1>

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<p class="p_Normal">VI-DriveSim 19.2 provides two different motor control modes:</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 7px 0px 0px 48px;"><span style="font-style:italic; font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">1.</span><span class="f_NormalIndentParameters" style="font-style: italic;">Torque mode</span></p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 7px 0px 0px 48px;"><span style="font-style:italic; font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">2.</span><span class="f_NormalIndentParameters" style="font-style: italic;">Angle mode</span></p><p class="p_Normal">&nbsp;</p>
<p class="p_Normal">The RTDB control signals of the steering wheel functioning mode are listed in the picture below (blue highlighted):</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal" style="text-align: center; margin: 0px 0px 0px 24px;"><img alt="drvsim_sw_rtdb_outsignals" width="552" height="215" style="margin:0px auto 0px auto;width:552px;height:215px;border:none" src="drvsim_sw_rtdb_outsignals.png"/></p>
<p class="p_Normal" style="text-align: center; margin: 0px 0px 0px 24px;">&nbsp;</p>
<p class="p_Normal" style="text-align: left; margin: 0px 0px 0px 24px;">&nbsp;</p>
<div style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 0px; margin: 0px 0px 0px 0px;"><table style="border:none; border-spacing:0px; border-collapse:collapse;">
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<th style="vertical-align:middle; width:537px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt; font-weight: bold;">RTDB Control Signal Name</span></p>
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<th style="vertical-align:middle; width:597px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt; font-weight: bold;">Description</span></p>
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<td style="vertical-align:top; width:537px; height:37px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Outputs.Cockpit.SteeringWheel.Angle</span></p>
</td>
<td style="vertical-align:middle; width:597px; height:37px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;">When in angle mode this variable represents the angle reference (rad) passed to the motor drive</span></p>
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<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:537px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Outputs.Cockpit.SteeringWheel.Mode</span></p>
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<td style="vertical-align:middle; width:597px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;">Motor control mode: 0 for Torque Mode, 1 for Angle Mode</span></p>
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<td style="vertical-align:top; width:537px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Outputs.Cockpit.SteeringWheel.Torque</span></p>
</td>
<td style="vertical-align:middle; width:597px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;">When in Torque Mode this variable represents the torque reference passed to the motor drive</span></p>
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<td style="vertical-align:top; width:537px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Outputs.Cockpit.SteeringWheel.TorqueMultiplier</span></p>
</td>
<td style="vertical-align:middle; width:597px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;">Gain applied to the torque reference (0..1)</span></p>
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<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">To monitor the status of the steering wheel a set of RTDB signals are provided, derived directly from the motor drive. These signals are listed below (red highlighted):</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal" style="text-align: center; margin: 0px 0px 0px 24px;"><img alt="drvsim_sw_rtdb_signals" width="553" height="292" style="margin:0px auto 0px auto;width:553px;height:292px;border:none" src="drvsim_sw_rtdb_signals.png"/></p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">&nbsp;</p>
<div style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 0px; margin: 0px 0px 0px 0px;"><table style="border:none; border-spacing:0px; border-collapse:collapse;">
<thead>
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<th style="vertical-align:middle; width:539px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt; font-weight: bold;">RTDB Control Signal Name</span></p>
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<th style="vertical-align:middle; width:596px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt; font-weight: bold;">Description</span></p>
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<td style="vertical-align:top; width:539px; height:37px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Inputs.ECAT.SteeringWheel.AbsoluteAngle</span></p>
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<td style="vertical-align:middle; width:596px; height:37px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;">Angle as measured by the motor encoder</span></p>
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<td style="vertical-align:top; width:539px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Inputs.ECAT.SteeringWheel.Angle</span></p>
</td>
<td style="vertical-align:middle; width:596px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;">Angle which takes into account the specified zero and the motor mounting direction</span></p>
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<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:539px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Inputs.ECAT.SteeringWheel.DriveStatus</span></p>
</td>
<td style="vertical-align:middle; width:596px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;">Status code return by the drive. Check the drive documentation for a detailed description.</span></p>
</td>
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<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:539px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Inputs.ECAT.SteeringWheel.Fault</span></p>
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<td style="vertical-align:middle; width:596px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;"> &nbsp;0 if the drive status indicates no error, 1 if the drive status corresponds to an error code</span></p>
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<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:539px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Inputs.ECAT.SteeringWheel.IqFdb</span></p>
</td>
<td style="vertical-align:middle; width:596px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;">Measured quadrature current used by the current control loop</span></p>
</td>
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<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:539px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Inputs.ECAT.SteeringWheel.IqRef</span></p>
</td>
<td style="vertical-align:middle; width:596px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;">Reference quadrature current used by the current control loop</span></p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:539px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Inputs.ECAT.SteeringWheel.ProgramStatus</span></p>
</td>
<td style="vertical-align:middle; width:596px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;">Firmware status, as described in the <a href="drivesim_gui_tab_steer.htm" class="topiclink">Action Feedback</a> section</span></p>
</td>
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<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:539px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 8px;"><span style="font-size: 8pt;">VI_DriveSim.Inputs.ECAT.SteeringWheel.Vdc</span></p>
</td>
<td style="vertical-align:middle; width:596px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center;"><span style="font-size: 8pt;">Measured DC voltage used for PWM inside the drive</span></p>
</td>
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<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">A detailed description of these control modes are presented below.</p>

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